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Energy-Bounded Caging: Formal Definition and 2-D Energy Lower Bound Algorithm Based on Weighted Alpha Shapes

2016
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IEEE Robotics and Automation Letters
*

EBCA-2D builds

doi:10.1109/lra.2016.2519145
dblp:journals/ral/MahlerPMSG16
fatcat:uamrd24qhjfxbinghgxf7p2bny
*on*recent results in collision detection*and*the computational geometric theory of*weighted*α-*shapes**and*runs in O(s*2*+ sn*2*) time where s is the number of samples, n is the total number ... of rigid fixed polygonal obstacles, e.g. a gripper,*and*returns a*lower**bound**on*the minimum escape*energy*. ... This paper*formally*defines*energy*-*bounded**cages**and*introduces*Energy*-*Bounded*-*Cage*-Analysis-2D (EBCA-2D), a sampling-*based**algorithm*that can verify*cages**and*energybounded*cages*for general 2D polygonal ...##
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Herding by Caging: a Topological Approach towards Guiding Moving Agents via Mobile Robots

2017
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Robotics: Science and Systems XIII
*

We propose an RRT-

doi:10.15607/rss.2017.xiii.074
dblp:conf/rss/VaravaHKP17
fatcat:44auqqfk2jculctjwoypxif6xe
*based*motion planning*algorithm*, demonstrate its probabilistic completeness,*and*evaluate it in simulations. ... We*formalize*this behavior geometrically by applying the notion of*caging*, widely used in robotic grasping. ... This happens because it is densely surrounded with obstacles,*and*therefore the*shape*of the configurations in the path should be significantly different from the*shape*of the initial*one*. VI. ...##
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Free Space of Rigid Objects: Caging, Path Non-Existence, and Narrow Passage Detection
[article]

2020
*
arXiv
*
pre-print

Our

arXiv:2002.02715v1
fatcat:37tqreji25eexfxnbcw7bx4a5q
*algorithms*are*based**on*a decomposition of the resulting 3*and*6 dimensional configuration spaces into slices corresponding to a finite sample of fixed orientations in configuration space. ... We carry out experiments to evaluate the computational efficiency*on*a set of objects with different geometric features thus demonstrating that our approach is applicable to different object*shapes*. ... Acknowledgements This work has been supported by the Knut*and*Alice Wallenberg Foundation*and*Swedish Research Council. The authors are grateful to*D*. Devaurs, L. Kavraki,*and*O. ...##
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A new sequential importance sampling method and its application to the two-dimensional hydrophobic–hydrophilic model

2002
*
Journal of Chemical Physics
*

We show by numerical results that SISPER outperformed several existing approaches, e.g., a genetic

doi:10.1063/1.1494415
fatcat:2yljwcbpvfco5mwziyi2drqmdu
*algorithm*, the pruned-enriched Rosenbluth method,*and*the evolutionary Monte Carlo, in finding the ground ... In a few difficult cases, the new method can find the ground states without using any prior structural information*on*the chain. ... Each successfully constructed chain is*weighted*by n 1 ϫ¯ϫn*d**and*the unsuccessful*ones**weighted*by 0. ...##
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ENHANCED PARTIAL ORDER CURVE COMPARISON OVER MULTIPLE PROTEIN FOLDING TRAJECTORIES

2007
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Computational Systems Bioinformatics
*

A detailed case study of applying our

doi:10.1142/9781860948732_0031
fatcat:q3teunlkijbrfjjiu6owiusle4
*algorithm*to a miniprotein Trp-*cage*24 demonstrates that our*algorithm*can detect similarities at rather low level,*and*extract biologically meaningful folding events ... successful*and*unsuccessful simulation runs. ... ACKNOWLEDGMENT The work was supported in part by the Department of*Energy*(DOE) under grant DE-FG02-06ER25735*and*in part by National Science Foundation under grant IIS-0546713. ...##
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An enhanced partial order curve comparison algorithm and its application to analyzing protein folding trajectories

2008
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BMC Bioinformatics
*

A detailed case study

doi:10.1186/1471-2105-9-344
pmid:18710565
pmcid:PMC2571979
fatcat:eqllnuq53jbwhpqinbecv4lbb4
*on*miniprotein Trp-*cage*[1] demonstrates that our*algorithm*can detect similarities at rather low level,*and*extract biologically meaningful folding events. ... The EPO*algorithm*is general*and*applicable to a wide range of applications. ... Acknowledgements The work was supported in part by the Department of*Energy*(DOE) under grant DE-FG02-06ER25735*and*in part by National Science Foundation under grant IIS-0546713, CCF-0747082. ...##
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Applying Computational Scoring Functions to Assess Biomolecular Interactions in Food Science: Applications to the Estrogen Receptors

2016
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Nuclear Receptor Research
*

All of these methods

doi:10.11131/2016/101202
fatcat:ljmpr3cpgrardp4cbkrg24gwq4
*and*simulations are*based**on*protein-ligand interaction phenomena,*and*represent the basis for any subsequent modification of the targeted receptor's or enzyme's physiological activity ... , have been successfully applied in a variety of food science applications [1,*2*] . ... Abraham (VCU)*and*Prof. Andrea Mozzarelli (U. Parma), who sparked our collaboration because of their mutual interest in structural biology*and*drug discovery. ...##
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Topological analysis of the metal-metal bond: A tutorial review

2017
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Coordination chemistry reviews
*

Metallic bonds as well as weak partially covalent M-M interactions, are described

doi:10.1016/j.ccr.2017.04.009
fatcat:wvqdygabazae3n4d57s6tj45ua
*and*characterized unambiguously combining AIM (atoms in molecules)*and*ELF/ELI-*D*topological analysis. ... (ELI-*D*) enable the theoretical characterization of various metal-metal (M-M) bonds (multiple M-M bonds, dative M-M bonds). ... Interaction type*Formal*bond order Electronic configuration*d*1 −*d*1 Single bond σ*2**d**2*−*d**2*Double bond σ*2*π*2**d*3 −*d*3 Triple bond σ*2*π 4*d*4 −*d*4 Quadruple bond σ*2*π 4 δ*2**d*5 −*d*5 Triple ...##
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Continuity and Interpolation Techniques for Computer Graphics

2015
*
Computer graphics forum (Print)
*

Figure 45 : 45

doi:10.1111/cgf.12727
fatcat:yxne2x7cqng6xfhlvv5uflx4d4
*Definition*of a point inside a*cage*by a set of*weights*respect to the*cage*vertices. Figure 46 : 46 Left: c 0 0 c*2*∪*2*B c 1 c*2*. Middle: Join*cage*generated by v 3 . ... Then,*on*the rest of the model, the*bounded*biharmonic*weights*could be used with point*and*bone handlers. ... T r i a n g l e ; f l o a t*2*t e x C o o r*d*s C u r r e n t T r i a n g l e , t e x ;*d*i s p l a c e m e n t T r i a n g l e s = 1 . 0 / p _ t r i a n g l e s T e x t u r e S i z e . x ; // Obtain ...##
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Structural Bioinformatics: From the Sequence to Structure and Function

2009
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Current Bioinformatics
*

*on*quantum theoretical calculations. ... Details at the atomic

*and*electronic levels of the protein molecules, needed for a deeper understanding of properties that remain unrevealed after structural elucidation, are provided by methods

*based*... This

*definition*is

*formally*equivalent to an iso-contour value of the sum of exponential functions. ...

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Spontaneous and induced dynamic fluctuations in glass formers. I. General results and dependence on ensemble and dynamics

2007
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Journal of Chemical Physics
*

Science 310, 1797 ͑2005͔͒ that the temperature dependence of correlation functions allows

doi:10.1063/1.2721554
pmid:17508807
fatcat:6uxgfsgmyze5bahvo4w5mqh5ve
*one*to extract useful information*on*dynamic length scales in glassy systems. ... Redistribution subject to AIP license or copyright; see http://jcp.aip.org/about/rights_and_permissions 184503-*2*Berthier et al. J. Chem. ... Lefevre,*D*. L'Hôte,*and*G. Szamel for discussions. The authors are also deeply indebted to M. Cates*and*G. Tarjus for insightful remarks which helped in clarifying the manuscript. ...##
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Relevance of accurate Monte Carlo modeling in nuclear medical imaging

1999
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Medical Physics (Lancaster)
*

Current

doi:10.1118/1.598559
pmid:10227362
fatcat:ea6pbismqbccpn2qdnbatigg2e
*and*future trends in the field are also discussed. ... In this paper we present a derivation*and*methodological basis for this approach*and*critically review their areas of application in nuclear imaging. ... The new*weighting*factor is given by W nϩ1 ϭW n exp͑Ϫ*d*C cos ͒ ͑ 1ϪC cos ͒ . ͑19͒ Note that the new*weighting*factor is dependent*on**d*. ...##
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A discrete mechanics model for deformable bodies

2002
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Computer-Aided Design
*

We begin by examining the domain of conceptual design,

doi:10.1016/s0010-4485(01)00146-4
fatcat:f6qfqdsfqrewxdwc54lt26nfze
*and*find there is a need for physics*based*simulation, both for interactive*shape*modeling*and*analysis. ... We then proceed with describing a theoretical*base*for our model, as well as pragmatic additions. Applications in both interactive physics*based**shape*modeling*and*analysis are presented. ...*Energy*Agency. ...##
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PERSONALISED BODY COUNTER CALIBRATION USING ANTHROPOMETRIC PARAMETERS

2015
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Radiation Protection Dosimetry
*

an

doi:10.1093/rpd/ncv398
pmid:26396263
fatcat:qhxlqe66wzcx3belohwrjtykqm
*algorithmically*reproducible approach*on*calibration. ... This method depends*on*the specific detection system*and*is sensitive to the individual anatomy of the person. ... Spontaneous emission Spontaneous emission is the transition of a nucleus or an orbital electron in an excited*energy*state*2*to a*lower**energy*state 1 with*2*> 1 by releasing excess*energy*Δ =*2*− 1 in ...##
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Deep Underground Neutrino Experiment (DUNE), Far Detector Technical Design Report, Volume II: DUNE Physics
[article]

2020
*
arXiv
*
pre-print

Crucially, we also report our best current understanding of the capability of DUNE to realize these goals, along with the detailed arguments

arXiv:2002.03005v2
fatcat:k6pxhnzk6vfu3i5xijuzhcsmea
*and*investigations*on*which this understanding is*based*. ... This document also serves a wider purpose as a statement*on*the scientific potential of DUNE as a central component within a global program of frontier theoretical*and*experimental particle physics research ... Both of these*algorithms*are*based**on*CNNs. ...
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